I just visited a friend in Norway who has a diesel powered AWD Toyota RAV 4. He has had it for about 2 years now.
When he bought it, it was available with a manual transmission only.
I believe the RAV 4 competes directly against the CRV, so I assume they will be very similar.
Highway speeds are lower in Norway, and he has done no towing with his RAV 4, but he told me his highway mileage is around 5 liters per 100 km, and 5.5 overall in his mixed driving, which is primarily out in the country, where they live.
That translates to 47 and 43 mpg respectively.